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Directions

Cream the sugar and eggs until fluffy, about 3 minutes. Pour milk into a small saucepan and simmer over low. Drizzle the milk into the eggs while stirring. Pour the whole mixture into the saucepan and cook over low while stirring. Remove from the heat and add the peanut butter. Cool slightly and whisk in the condensed milk, half-and-half, and vanilla. Cover and refrigerate until chilled. Pour the chilled mixture into an ice cream maker and freeze according to the instructions. Fold in the chopped peanut butter cups while the mixture is soft and freeze until solid. Garnish with large peanut butter cups and serve.